Open Trunk Example#

Attention

Purpose: Demonstration safety topic, demonstration Mixed-Criticality and why we need two instances: safety and non-safety instance.

Note

Example can be found in <output-folder>/examples/bin:

open_trunk_example <parameter>

Sub pages of the Open Trunk Example

Hint

The Vehicle Function will open the trunk. This should be blocked when the vehicle is moving:

Required: TX signal to open the trunk, RX signal representing the speed of the vehicle.
Convert the speed value from m/s to km/h. This represents the vehicle abstraction when the input signal unit does not match the standardized interface definition.
A complex service offers an interface to open the trunk.
Before the command is forwarded to the basic service the vehicle speed is checked and denied accordingly to prevent the opening of the trunk.
Therefore the complex service can be seen as an ASIL A component.

../../../_images/open_trunk_overview.png

@startuml
set separator ::
package "Trunk Application executable"
{
class CTrunkControl
{
+bool Initialize(uint32_t uiInstance)
+void SetRunningMode()
+void Shutdown()
-bool IsSDVFrameworkEnvironmentSet()
-bool LoadConfigFile(const std::string& inputMsg, const std::string& configFileName)
-sdv::app::CAppControl m_appcontrol
-bool m_bInitialized
}

class CConsole
{
+struct SConsolePos
{
uint32_t uiRow
uint32_t uiCol
};
+void PrintHeader(uint32_t uiInstance)
+bool PrepareDataConsumers()
+void RunUntilBreak()
+{abstract} void WriteSpeed(float value)
+{abstract} void SetSpeed(float value)
+void ResetSignals()
-void CallbackSpeed(sdv::any_t value)
-bool KeyHit()
-char GetChar()
-SConsolePos GetCursorPos() const
-void SetCursorPos(SConsolePos sPos)
-void PrintText(SConsolePos sPos, const std::string& rssText)
-void PrintValue(SConsolePos sPos, const std::string& rssName, TValue tValue, const std::string& rssStatus)
-std::string AlignString(const std::string& message, uint32_t desiredLength)
-mutable std::mutex m_mtxPrintToConsole
-bool m_bRunning
-mutable std::mutex m_mPrintToConsole
-sdv::core::CSignal m_SignalSpeed
-float m_SpeedDL
-float m_SpeedVD
-float m_SpeedBS
-vss::Vehicle::Body::TrunkService::IVSS_SetOpen* m_pTrunkSvc
-ITrunkKitService* m_pITrunkComplexService
-DWORD m_dwConsoleOutMode
-DWORD m_dwConsoleInMode
-struct termios m_sTermAttr{}
-int m_iFileStatus
-<<inline>> void PrintValue(SConsolePos sPos, const std::string& rssName, TValue tValue, const std::string& rssUnits)
-<<inline>> void PrintValue<bool>(SConsolePos sPos, const std::string& rssName, bool bValue, const std::string& rssStatus)
}
}

Interface vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event
{
{abstract} void WriteSpeed(float value)
}

Interface vss::Vehicle::SpeedService::IVSS_SetSpeed_Event
{
{abstract} void SetSpeed(float value)
}

CConsole ..|> vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event : Implements
CConsole ..|> vss::Vehicle::SpeedService::IVSS_SetSpeed_Event : Implements
@enduml — Trunk example application class diagram#

@startuml
set separator ::
class CTrunkExampleService
{
+{abstract} void Initialize(const sdv::u8string& ssObjectConfig)
+{abstract} sdv::EObjectStatus GetStatus() const
+{abstract} void SetOperationMode(sdv::EOperationMode eMode)
+{abstract} void Shutdown()
+{abstract} void SetSpeed(float value)
+{abstract} bool PopTrunk()
-sdv::EObjectStatus m_eStatus
-float m_Speed
-vss::Vehicle::Body::TrunkService::IVSS_SetOpen* m_pTrunkSvc
}

class sdv::CSdvObject
{
{static} +sdv::sequence<sdv::u8string> GetClassAliasesStatic()
{static} +sdv::u8string GetDefaultObjectNameStatic()
{static} +bool IsSingletonStatic()
{static} +sdv::sequence<sdv::u8string> GetObjectDependenciesStatic()
}

Interface sdv::IObjectControl
{
{abstract} void Initialize(const sdv::u8string& ssObjectConfig)
{abstract} EObjectStatus GetStatus() const
{abstract} void SetOperationMode(EOperationMode eMode)
{abstract} void Shutdown()
}

Interface vss::Vehicle::SpeedService::IVSS_SetSpeed_Event
{
{abstract} void SetSpeed(float value)
}

Interface ITrunkKitService
{
{abstract} bool PopTrunk()
}

CTrunkExampleService --|> sdv::CSdvObject : Inherits
CTrunkExampleService ..|> sdv::IObjectControl : Implements
CTrunkExampleService ..|> vss::Vehicle::SpeedService::IVSS_SetSpeed_Event : Implements
CTrunkExampleService ..|> ITrunkKitService : Implements

@enduml — Trunk Complex service class diagram#

@startuml
set separator ::
class CBasicServiceVehicleTrunk
{
{abstract} bool SetOpen(bool value)
-vss::Vehicle::Body::TrunkDevice::IVSS_WriteOpen* m_ptrOpen
}

class sdv::CSdvObject
{
{static} +sdv::sequence<sdv::u8string> GetClassAliasesStatic()
{static} +sdv::u8string GetDefaultObjectNameStatic()
{static} +bool IsSingletonStatic()
{static} +sdv::sequence<sdv::u8string> GetObjectDependenciesStatic()
}

Interface vss::Vehicle::Body::TrunkService::IVSS_SetOpen
{
{abstract} bool SetOpen(bool value)
}

CBasicServiceVehicleTrunk --|> sdv::CSdvObject : Inherits
CBasicServiceVehicleTrunk ..|> vss::Vehicle::Body::TrunkService::IVSS_SetOpen : Implements
@enduml — Vehicle Trunk basic service class diagram#

@startuml
set separator ::
class CBasicServiceVehicleSpeed
{
+{abstract} void SetSpeed(float value)
+{abstract} float GetSpeed() const
+{abstract} void WriteSpeed(float value)
+{abstract} RegisterOnSignalChangeOfVehicleSpeed(vss::Vehicle::SpeedService::IVSS_SetSpeed_Event* callback)
+{abstract} void UnregisterOnSignalChangeOfVehicleSpeed(vss::Vehicle::SpeedService::IVSS_SetSpeed_Event* callback)
-float m_vehicleSpeed
-mutable std::mutex m_vehicleSpeedMutexCallbacks
-std::set<vss::Vehicle::SpeedService::IVSS_SetSpeed_Event*> m_vehicleSpeedCallbacks
}

Interface vss::Vehicle::SpeedService::IVSS_GetSpeed
{
{abstract} float GetSpeed() const
{abstract} void RegisterOnSignalChangeOfVehicleSpeed(IVSS_SetSpeed_Event* callback)
{abstract} void UnregisterOnSignalChangeOfVehicleSpeed(IVSS_SetSpeed_Event* callback)
}

Interface vss::Vehicle::SpeedService::IVSS_SetSpeed_Event
{
{abstract} void SetSpeed(float value)
}

Interface vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event
{
{abstract} void WriteSpeed(float value)
}

class sdv::CSdvObject
{
{static} +sdv::sequence<sdv::u8string> GetClassAliasesStatic()
{static} +sdv::u8string GetDefaultObjectNameStatic()
{static} +bool IsSingletonStatic()
{static} +sdv::sequence<sdv::u8string> GetObjectDependenciesStatic()
}

CBasicServiceVehicleSpeed --|> sdv::CSdvObject : Inherits
CBasicServiceVehicleSpeed ..|> vss::Vehicle::SpeedService::IVSS_GetSpeed : Implements
CBasicServiceVehicleSpeed ..|> vss::Vehicle::SpeedService::IVSS_SetSpeed_Event : Implements
CBasicServiceVehicleSpeed ..|> vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event : Implements
@enduml — Vehicle Speed basic service class diagram#

@startuml
set separator ::
class CVehicleDeviceVehicleSpeed
{
+{abstract} void Initialize(const sdv::u8string& objectConfig)
+{abstract} sdv::EObjectStatus GetStatus() const
+{abstract} void SetOperationMode(sdv::EOperationMode eMode)
+{abstract} void Shutdown()
+{abstract} void RegisterSpeedEvent(vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event* event)
+{abstract} void UnregisterSpeedEvent(vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event* event)
-void ExecuteAllCallBacksForVehicleSpeed(sdv::any_t value)
-sdv::core::CSignal m_vehicleSpeedSignal
-mutable std::mutex m_vehicleSpeedMutexCallbacks
-std::set<vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event*> m_vehicleSpeedCallbacks
-std::atomic<sdv::EObjectStatus> m_status
}

class sdv::CSdvObject
{
{static} +sdv::sequence<sdv::u8string> GetClassAliasesStatic()
{static} +sdv::u8string GetDefaultObjectNameStatic()
{static} +bool IsSingletonStatic()
{static} +sdv::sequence<sdv::u8string> GetObjectDependenciesStatic()
}

Interface sdv::IObjectControl
{
{abstract} void Initialize(const sdv::u8string& ssObjectConfig)
{abstract} EObjectStatus GetStatus() const
{abstract} void SetOperationMode(EOperationMode eMode)
{abstract} void Shutdown()
}

Interface vss::Vehicle::SpeedDevice::IVSS_Speed
{
{abstract} void RegisterSpeedEvent(IVSS_WriteSpeed_Event* event)
{abstract} void UnregisterSpeedEvent(IVSS_WriteSpeed_Event* event)
}

CVehicleDeviceVehicleSpeed --|> sdv::CSdvObject : Inherits
CVehicleDeviceVehicleSpeed ..|> sdv::IObjectControl : Implements
CVehicleDeviceVehicleSpeed ..|> vss::Vehicle::SpeedDevice::IVSS_Speed : Implements
@enduml — Vehicle Speed Vehicle device class diagram#

@startuml
set separator ::
class CVehicleDeviceVehicleTrunk
{
+{abstract} void Initialize(const sdv::u8string& objectConfig)
+{abstract} sdv::EObjectStatus GetStatus() const
+{abstract} void SetOperationMode(sdv::EOperationMode eMode)
+{abstract} void Shutdown()
+{abstract} bool WriteOpen(bool value)
-sdv::core::CSignal m_trunk
-std::atomic<sdv::EObjectStatus> m_status
}

class sdv::CSdvObject
{
{static} +sdv::sequence<sdv::u8string> GetClassAliasesStatic()
{static} +sdv::u8string GetDefaultObjectNameStatic()
{static} +bool IsSingletonStatic()
{static} +sdv::sequence<sdv::u8string> GetObjectDependenciesStatic()
}

Interface sdv::IObjectControl
{
{abstract} void Initialize(const sdv::u8string& ssObjectConfig)
{abstract} EObjectStatus GetStatus() const
{abstract} void SetOperationMode(EOperationMode eMode)
{abstract} void Shutdown()
}

Interface vss::Vehicle::Body::TrunkDevice::IVSS_WriteOpen
{
{abstract} bool WriteOpen(bool value)
}

CVehicleDeviceVehicleTrunk --|> sdv::CSdvObject : Inherits
CVehicleDeviceVehicleTrunk ..|> sdv::IObjectControl : Implements
CVehicleDeviceVehicleTrunk ..|> vss::Vehicle::Body::TrunkDevice::IVSS_WriteOpen : Implements
@enduml — Vehicle Speed Vehicle device class diagram#